inverse-dynamics-derivatives.cpp
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1 #include "pinocchio/parsers/urdf.hpp"
2 
3 #include "pinocchio/algorithm/joint-configuration.hpp"
4 #include "pinocchio/algorithm/rnea-derivatives.hpp"
5 
6 #include <iostream>
7 
8 // PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here.
9 #ifndef PINOCCHIO_MODEL_DIR
10  #define PINOCCHIO_MODEL_DIR "path_to_the_model_dir"
11 #endif
12 
13 int main(int argc, char ** argv)
14 {
15  using namespace pinocchio;
16 
17  // You should change here to set up your own URDF file or just pass it as an argument of this example.
18  const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf") : argv[1];
19 
20  // Load the URDF model
21  Model model;
22  pinocchio::urdf::buildModel(urdf_filename,model);
23 
24  // Build a data related to model
25  Data data(model);
26 
27  // Sample a random joint configuration as well as random joint velocity and acceleration
29  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
30  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
31 
32  // Allocate result container
33  Eigen::MatrixXd djoint_torque_dq = Eigen::MatrixXd::Zero(model.nv,model.nv);
34  Eigen::MatrixXd djoint_torque_dv = Eigen::MatrixXd::Zero(model.nv,model.nv);
35  Eigen::MatrixXd djoint_torque_da = Eigen::MatrixXd::Zero(model.nv,model.nv);
36 
37  // Computes the inverse dynamics (RNEA) derivatives for all the joints of the robot
38  computeRNEADerivatives(model, data, q, v, a, djoint_torque_dq, djoint_torque_dv, djoint_torque_da);
39 
40  // Get access to the joint torque
41  std::cout << "Joint torque: " << data.tau.transpose() << std::endl;
42 }
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
TangentVectorType tau
Vector of joint torques (dim model.nv).
int main(int argc, char **argv)
void randomConfiguration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
Generate a configuration vector uniformly sampled among provided limits.
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
void computeRNEADerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const Eigen::MatrixBase< MatrixType1 > &rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &rnea_partial_da)
Computes the partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint c...
#define PINOCCHIO_MODEL_DIR
ModelTpl< Scalar, Options, JointCollectionTpl > & buildModel(const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
Build the model from a URDF file with a particular joint as root of the model tree inside the model g...
Vec3f a
Main pinocchio namespace.
Definition: timings.cpp:28
int nv
Dimension of the velocity vector space.
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorXd
Definition: conversions.cpp:14
JointCollectionTpl & model


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autogenerated on Fri Jun 23 2023 02:38:30